From 19f574981e326059f7a01819e4ce0facbf503ee4 Mon Sep 17 00:00:00 2001
From: Jorgen Fjermedal <jorgen.fjermedal@hotmail.com>
Date: Wed, 28 Jan 2026 20:00:58 +0100
Subject: [PATCH] transient local qos

---
 vortex_utils_ros/include/vortex/utils/ros/qos_profiles.hpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/vortex_utils_ros/include/vortex/utils/ros/qos_profiles.hpp b/vortex_utils_ros/include/vortex/utils/ros/qos_profiles.hpp
index c1130d3..111c2ed 100644
--- a/vortex_utils_ros/include/vortex/utils/ros/qos_profiles.hpp
+++ b/vortex_utils_ros/include/vortex/utils/ros/qos_profiles.hpp
@@ -19,6 +19,13 @@ inline rclcpp::QoS reliable_profile(const size_t depth = 10) {
     return profile;
 }
 
+inline rclcpp::QoS reliable_transient_local_profile(const size_t depth = 1) {
+    auto profile{rclcpp::QoS(rclcpp::KeepLast(depth))};
+    profile.reliable();
+    profile.transient_local();
+    return profile;
+}
+
 }  // namespace vortex::utils::qos_profiles
 
 #endif  // VORTEX_UTILS_QOS_PROFILES_HPP